From df5aa3e9fd2f8c51b146630d350adc58fd067bf8 Mon Sep 17 00:00:00 2001 From: takumi-karasawa Date: Thu, 13 Aug 2020 21:47:20 +0900 Subject: [PATCH] fix: Add if statement for "conf.hill_climbing", which is defined in config but not actually used --- lib/rpn_util.py | 22 +++++++++++++--------- 1 file changed, 13 insertions(+), 9 deletions(-) diff --git a/lib/rpn_util.py b/lib/rpn_util.py index b3bd6fba7..bb67c8179 100644 --- a/lib/rpn_util.py +++ b/lib/rpn_util.py @@ -1372,21 +1372,25 @@ def test_kitti_3d(dataset_test, net, rpn_conf, results_path, test_path, use_log= w3d = box[9] h3d = box[10] l3d = box[11] - ry3d = box[12] + alpha = box[12] # convert alpha into ry3d coord3d = np.linalg.inv(p2).dot(np.array([x3d * z3d, y3d * z3d, 1 * z3d, 1])) - ry3d = convertAlpha2Rot(ry3d, coord3d[2], coord3d[0]) + ry3d = convertAlpha2Rot(alpha, coord3d[2], coord3d[0]) - step_r = 0.3*math.pi - r_lim = 0.01 - box_2d = np.array([x1, y1, width, height]) + if rpn_conf.hill_climbing: - z3d, ry3d, verts_best = hill_climb(p2, p2_inv, box_2d, x3d, y3d, z3d, w3d, h3d, l3d, ry3d, step_r_init=step_r, r_lim=r_lim) + step_r = 0.3*math.pi + r_lim = 0.01 + box_2d = np.array([x1, y1, width, height]) - # predict a more accurate projection - coord3d = np.linalg.inv(p2).dot(np.array([x3d * z3d, y3d * z3d, 1 * z3d, 1])) - alpha = convertRot2Alpha(ry3d, coord3d[2], coord3d[0]) + z3d, ry3d, verts_best = hill_climb( + p2, p2_inv, box_2d, x3d, y3d, z3d, w3d, h3d, l3d, ry3d, step_r_init=step_r, r_lim=r_lim + ) + + # predict a more accurate projection + coord3d = np.linalg.inv(p2).dot(np.array([x3d * z3d, y3d * z3d, 1 * z3d, 1])) + alpha = convertRot2Alpha(ry3d, coord3d[2], coord3d[0]) x3d = coord3d[0] y3d = coord3d[1]